Status Report - Khairi Abdulrahim, PhD

(12) International Application Status Report
Received at International Bureau: 19 October 2011 (19.10.2011)
Information valid as of: 28 March 2012 (28.03.2012)
Report generated on: 29 April 2013 (29.04.2013)
(10) Publication number:
(43) Publication date:
(26) Publication language:
WO2012/049492
19 April 2012 (19.04.2012)
English (EN)
(21) Application Number:
(22) Filing Date:
(25) Filing language:
PCT/GB2011/051959
11 October 2011 (11.10.2011)
English (EN)
(31) Priority number(s):
(31) Priority date(s):
(31) Priority status:
1017288.0 (GB)
13 October 2010 (13.10.2010)
Priority document received (in compliance
with PCT Rule 17.1)
(51) International Patent Classification:
G01C 21/16 (2006.01); G01C 25/00 (2006.01)
(71) Applicant(s):
UNIVERSITY OF NOTTINGHAM [GB/GB]; University Park Nottingham Nottinghamshire NG7 2RD (GB) (for all designated
states except US)
HIDE, Christopher [GB/GB]; University of Nottingham University Park Nottingham Nottinghamshire NG7 2RD (GB) (for US
only)
HILL, Chris [GB/GB]; University of Nottingham University Park Nottingham Nottinghamshire NG7 2RD (GB) (for US only)
ABDULRAHIM, Khairi [MY/GB]; University of Nottingham University Park Nottingham Nottinghamshire NG7 2RD (GB) (for
US only)
MOORE, Terry [GB/GB]; University of Nottingham University Park Nottingham Nottinghamshire NG7 2RD (GB) (for US only)
(72) Inventor(s):
HIDE, Christopher; University of Nottingham University Park Nottingham Nottinghamshire NG7 2RD (GB)
HILL, Chris; University of Nottingham University Park Nottingham Nottinghamshire NG7 2RD (GB)
ABDULRAHIM, Khairi; University of Nottingham University Park Nottingham Nottinghamshire NG7 2RD (GB)
MOORE, Terry; University of Nottingham University Park Nottingham Nottinghamshire NG7 2RD (GB)
(74) Agent(s):
MURGITROYD & COMPANY; Scotland House 165-169 Scotland Street Glasgow Strathclyde G5 8PL (GB)
(54) Title (EN): POSITIONING SYSTEM
(54) Title (FR): SYSTÈME DE POSITIONNEMENT
(57) Abstract:
(EN): A system for correcting inertially derived navigation information for use in navigating in a navigation environment. The
system uses information relating to buildings and/or other features in the navigation environment to correct drift in the output of
inertial sensors. Specifically, the system uses four bearings of external walls of a building to determine the likely direction of travel
of a user of the system when inside a building. This information is used to correct drift in heading derived from inertial sensors.
The system incorporates a stochastic filter, in particular a Kalman filter, to process inertial data and to apply corrections to the
inertial data. The Kalman filter also allows the integration of other navigation sensors such as GPS. The system also extracts the
bearing information from aerial imagery such as maps and photogrammetry data using edge detection and straight line detection
algorithms.
(FR): L'invention concerne un système permettant de corriger des informations de navigation déduites de manière inertielle
pour les utiliser à des fins de navigation dans un environnement de navigation. Le système utilise des informations concernant
des bâtiments et/ou d'autres éléments caractéristiques de l'environnement de navigation pour corriger la dérive affectant la sortie
de capteurs inertiels. Plus précisément, le système utilise quatre relèvements de parois externes d'un bâtiment pour déterminer
la direction de parcours probable d'un utilisateur du système lorsqu'il se trouve à l'intérieur d'un bâtiment. Ces informations
sont utilisées pour corriger la dérive affectant le cap déduit des capteurs inertiels. Le système comporte un filtre stochastique,
notamment un filtre de Kalman, pour traiter les données inertielles et pour appliquer des corrections aux données inertielles.
Le filtre de Kalman permet également d'intégrer d'autres capteurs de navigation tels que des capteurs GPS. Le système extrait
également les informations de relèvement d'images aériennes telles que des cartes et des données photogramétriques en utilisant
des algorithmes de détection de bord et de détection de ligne droite.
International search report:
Received at International Bureau: 14 February 2012 (14.02.2012) [EP]
International Report on Patentability (IPRP) Chapter II of the PCT:
Not available
(81) Designated States:
AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DK, DM,
DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IS, JP, KE, KG, KM, KN, KP, KR, KZ, LA,
LC, LK, LR, LS, LT, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PE, PG, PH, PL,
PT, QA, RO, RS, RU, RW, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN,
ZA, ZM, ZW
European Patent Office (EPO) : AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU,
LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR
African Intellectual Property Organization (OAPI) : BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, ML, MR, NE, SN, TD, TG
African Regional Intellectual Property Organization (ARIPO) : BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, SZ, TZ,
UG, ZM, ZW
Eurasian Patent Organization (EAPO) : AM, AZ, BY, KG, KZ, MD, RU, TJ, TM